Cleaning robot
The cleaning robot addresses corner cleaning inefficiencies by using a sliding belt and scraper to collect dirt, enhancing cleaning effectiveness and user satisfaction.
Patent Information
- Application Number
- CN202421715593.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-19
- Publication Date
- 2025-07-15
- Estimated Expiration
- 2034-07-19
AI Technical Summary
Existing cleaning robots are difficult to achieve zero-distance siding when they are close to the wall, resulting in blind spots in the corner area, and the mop of the mop module is easily covered with dust and causing secondary pollution, which has poor user experience.
A first track assembly and a scraping assembly that can be horizontally slipped is designed, including a first track mop, a first drive piece and a scraper. The sewage on the track mop is scraped into the sewage collection tank through the scraping assembly to avoid secondary contamination.
It realizes effective cleaning of corner areas, reduces the secondary pollution of the mop to the ground, and improves the cleaning effect and user experience.
Smart Images
Figure CN223095468U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of cleaning equipment, and particularly to a cleaning robot. Background Art
[0002] A cleaning robot is a type of intelligent household cleaning appliance that can automatically perform floor sweeping, dust suction, and mopping on the ground by virtue of a certain degree of artificial intelligence. When cleaning robots on the market work close to the wall, it is often difficult to achieve zero-distance edge attachment, resulting in cleaning dead corners.
[0003] Currently, some cleaning robots are provided with a supplementary mopping module on the edge side. The supplementary mopping module can be telescopically moved. When the cleaning robot is running along the edge, the supplementary mopping module extends out of the edge side of the body to clean the corner area when running along the edge. However, the corner area is the place where dust accumulates the most severely, and the mop cloth of the supplementary mopping module will quickly become covered with dust, resulting in secondary pollution to the ground and poor user experience. Utility Model Content
[0004] To solve the above technical problems, this application provides a cleaning robot. The first crawler assembly extending out of the edge of the body can be cleaned in real time by a scraping and dirt-removing assembly, reducing secondary pollution.
[0005] This application provides a cleaning robot, including:
[0006] A body;
[0007] At least one first crawler assembly that can horizontally slide beyond the edge of the body. The first crawler assembly includes a first crawler bracket, a first crawler mop rotatably arranged on the first crawler bracket, and a first driving member for driving the first crawler mop to rotate. The first driving member is connected to the first crawler bracket;
[0008] A scraping and dirt-removing assembly, including a first dirt-collecting member having a first dirt-collecting groove. The first dirt-collecting member is connected to the first crawler bracket and is provided with a first scraping strip thereon. The first scraping strip is attached to the first crawler mop to scrape the sewage on the first crawler mop into the first dirt-collecting groove.
[0009] Optionally, the scraping and dirt-removing assembly further includes a second dirt-collecting member having a second dirt-collecting groove. The second dirt-collecting member is connected to the body and is provided with a second scraping strip thereon. The first crawler assembly has a retracted position where it retracts below the body relative to the body;
[0010] When the first crawler assembly is in the retracted position, the second scraping strip is attached to the first crawler mop to scrape the sewage on the first crawler mop into the second dirt-collecting groove.
[0011] Optionally, the second sewage collection tank communicates with the first sewage collection tank;
[0012] When the first crawler assembly is in the retracted position, the second sewage collection tank is located below the first sewage collection tank.
[0013] Optionally, the cleaning robot further includes:
[0014] At least one second crawler assembly, each second crawler assembly is spaced apart from one of the first crawler assemblies in the sliding direction of the first crawler assembly. The second crawler assembly includes a second crawler bracket, a second crawler mop rotatably disposed on the second crawler bracket, and a second driving member for driving the second crawler mop to rotate. The second driving member is connected to the second crawler bracket, and the second crawler bracket is connected to the body;
[0015] A third scraping strip is further provided on the second sewage collection member, and the third scraping strip is attached to the second crawler mop to scrape the sewage on the second crawler mop into the second sewage collection tank.
[0016] Optionally, both the first crawler mop and the second crawler mop rotate in the sliding direction of the first crawler assembly, and in the sliding direction of the first crawler assembly, the second sewage collection member is located between the first crawler assembly and the second crawler assembly.
[0017] Optionally, the cleaning robot further includes:
[0018] At least one second crawler assembly, each second crawler assembly is spaced apart from one of the first crawler assemblies in the sliding direction of the first crawler assembly. The second crawler assembly includes a second crawler bracket and a second crawler mop rotatably disposed on the second crawler bracket;
[0019] The sewage scraping assembly further includes a third scraping strip and a third sewage collection tank provided corresponding to the third scraping strip. The third scraping strip is attached to the second crawler mop to scrape the sewage on the second crawler mop into the third sewage collection tank.
[0020] Optionally, there are two first crawler assemblies, and the two first crawler assemblies are spaced apart in the sliding direction of the first crawler assembly and / or the rotation directions of the first crawler mops of the two first crawler assemblies are opposite.
[0021] Optionally, the sliding direction of the first crawler is the width direction of the body, the first crawler mop rotates in the width direction of the body, and the first sewage collection member is located inside the first crawler mop in the width direction of the body.
[0022] Optionally, the cleaning robot further includes a driving assembly, which includes a driving member, a gear, and a rack engaged with the gear. The driving member is disposed on the body, the gear is connected to the output end of the driving member, the rack extends horizontally and is disposed on the first crawler bracket.
[0023] Optionally, the cleaning robot further includes a dirt collection box, an extraction device, and a sewage tank, all of which are disposed on the body. The dirt collection box has a dirt collection space communicating with the first dirt collection groove, and the extraction device is configured to extract the sewage in the dirt collection space into the sewage tank.
[0024] The technical solution provided by the embodiment of the present application has the following advantages compared with the prior art:
[0025] For this cleaning robot, by providing the first crawler assembly and the dirt scraping assembly, the first crawler assembly can horizontally slide beyond the edge of the body. In this way, the dust in the corner area can be cleaned by the first crawler cleaning cloth extending beyond the edge of the body, and the sewage on the first crawler cleaning cloth is scraped into the first dirt collection groove by the first scraping strip that follows the first crawler bracket. During the movement of the first crawler assembly, the first scraping strip always keeps scraping contact with the first crawler cleaning cloth, and can clean the first crawler cleaning cloth in real time, thereby avoiding secondary pollution of the ground by the first crawler cleaning cloth, improving the cleaning effect of the corner area, and improving the user experience. In addition, connecting the first driving member to the first crawler bracket enables the first driving member to slide integrally with the first crawler assembly, with a simpler structure and effectively improved driving reliability. Description of the Drawings
[0026] The drawings here are incorporated into the specification and constitute a part of this specification, showing the embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.
[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.
[0028] Figure 1 It is a schematic structural diagram of the cleaning robot according to Embodiment 1 of the present application;
[0029] Figure 2 It is Figure 1 a partial enlarged schematic diagram of A in
[0030] Figure 3 It is Figure 1 a schematic structural diagram of the first crawler assembly of the cleaning robot in
[0031] Figure 4 is Figure 1 a schematic cross-sectional view of the cleaning robot in
[0032] Figure 5 is Figure 4 a schematic enlarged partial view at position B in
[0033] Figure 6 is Figure 1 a schematic view of the cleaning state of the cleaning robot in Figure 1 ;
[0034] Figure 7 is Figure 1 a schematic view of the cleaning state of the cleaning robot in Figure 2 ;
[0035] Figure 8 is Figure 1 a schematic diagram of the cleaning path of the cleaning robot in
[0036] Figure 9 is a schematic structural diagram of the cleaning robot according to the second embodiment of the present application;
[0037] Figure 10 is Figure 9 a schematic partial cross-sectional view of the cleaning robot in
[0038] Figure 11 is a schematic structural diagram of the cleaning robot according to the third embodiment of the present application;
[0039] Figure 12 is Figure 11 a schematic structural diagram of the first crawler assembly of the cleaning robot in
[0040] Figure 13 is Figure 11 a schematic cross-sectional view of the cleaning robot in
[0041] Figure 14 is Figure 13 a schematic enlarged partial view at position C in
[0042] Figure 15 is Figure 11 a schematic structural diagram of the dirt collection box of the cleaning robot in Figure 1 ;
[0043] Figure 16 is Figure 11 a schematic structural diagram of the dirt collection box of the cleaning robot in Figure 2 ;
[0044] Figure 17 is Figure 11 a schematic view of the cleaning state of the cleaning robot in Figure 1 ;
[0045] Figure 18 is Figure 11 a schematic diagram of the cleaning state of the cleaning robot in Figure 2 ;
[0046] Figure 19 is Figure 11 a schematic diagram of the cleaning path of the cleaning robot in
[0047] Figure 20 is a schematic diagram of the structure of the cleaning robot described in Embodiment 4 of the present application;
[0048] Figure 21 is Figure 20 a schematic cross-sectional view of the cleaning robot in
[0049] Figure 22 is Figure 21 a partial enlarged view at D in
[0050] Figure 23 is Figure 21 a schematic diagram of the cleaning state of the cleaning robot in Figure 1 ;
[0051] Figure 24 is Figure 21 a schematic diagram of the cleaning state of the cleaning robot in Figure 2 ;
[0052] Figure 25 is Figure 21 a schematic diagram of the cleaning path of the cleaning robot in
[0053] Among them, 10 is the body; 20 is the dirt collection box; 200 is the dirt collection space; 30 is the sewage tank; 40 is the side brush;
[0054] 1 is the first crawler assembly; 11 is the first crawler bracket; 111 is the first mounting platform; 112 is the first inner bracket; 113 is the first outer bracket; 12 is the first crawler mop; 13 is the first driving member; 131 is the driving motor; 132 is the first driving wheel; 133 is the first driven wheel;
[0055] 2 is the second crawler assembly; 21 is the second crawler bracket; 211 is the second inner bracket; 212 is the second outer bracket; 213 is the second driving wheel; 214 is the second driven wheel; 22 is the second crawler mop;
[0056] 3 is the first dirt collection member; 301 is the first dirt collection groove; 31 is the first scraping strip;
[0057] 4 is the second dirt collection member; 401 is the second dirt collection groove; 41 is the second scraping strip; 42 is the third scraping strip;
[0058] 5. Driving component; 51. Driving part; 52. Gear; 53. Rack;
[0059] 6. Connecting pipe;
[0060] 7. Guiding component, 71. Slide rail; 72. Slide groove;
[0061] 9. Fourth sewage collecting part; 901. Fourth sewage collecting tank; 91. Fourth scraping strip. Detailed implementation manners
[0062] In order to more clearly understand the above objects, features and advantages of the present application, the solution of the present application will be further described below. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.
[0063] Many specific details are set forth in the following description in order to fully understand the present application, but the present application can also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the present application, rather than all the embodiments.
[0064] Embodiment 1
[0065] As Figures 1 to 5 shown, the embodiment of the present disclosure provides a cleaning robot, which includes a body 10, at least one first crawler assembly 1 that can horizontally slide beyond the edge of the body 10, and a sewage scraping assembly.
[0066] Wherein, the first crawler assembly 1 includes a first crawler bracket 11, a first crawler mop 12 rotatably arranged on the first crawler bracket 11, and a first driving part 13 for driving the first crawler mop 12 to rotate, and the first driving part 13 is connected to the first crawler bracket 11.
[0067] The sewage scraping assembly includes a first sewage collecting part 3 with a first sewage collecting tank 301. The first sewage collecting part 3 is connected to the first crawler bracket 11 and is provided with a first scraping strip 31 thereon. The first scraping strip 31 is attached to the first crawler mop 12 to scrape the sewage on the first crawler mop 12 into the first sewage collecting tank 301.
[0068] Understandably, by setting the first crawler assembly 1, the first sewage collecting tank 301 and the first scraping strip 31, the cleaning robot can clean the corner area through the first crawler mop 12 when the first crawler assembly 1 slides beyond the edge of the body 10, and the first scraping strip 31 is attached to the first crawler mop 12, which can scrape the sewage on the first crawler mop 12 in real time and collect it in the first sewage collecting tank 301, thereby avoiding secondary pollution of the ground caused by the dirt on the first crawler mop 12, improving the cleaning effect, and further improving the user experience.
[0069] Further, referring to Figures 1 to 3 , the above-mentioned cleaning robot further includes a driving assembly 5. The driving assembly 5 includes a driving member 51, a gear 52, and a rack 53 meshing with the gear 52. The driving member 51 is arranged on the body 10. The gear 52 is connected to the output end of the driving member 51. The rack 53 extends horizontally and is arranged on the first crawler bracket 11.
[0070] It can be understood that the rack 53 extends horizontally and meshes with the gear 52. Thus, when the gear 52 rotates, the gear 52 can drive the rack 53 to move in its extending direction, thereby driving the first crawler bracket 11 to move horizontally relative to the body 10.
[0071] Exemplarily, the above-mentioned driving member 51 can be selected as an electric motor.
[0072] Exemplarily, referring to Figure 1 and Figure 3 , the above-mentioned rack 53 extends along the width direction of the body 10, so that the first crawler assembly 1 can slide in the width direction of the body 10. That is to say, the sliding direction of the first crawler assembly 1 is the width direction of the body 10. Thus, when the body 10 moves, the first crawler assembly 1 can slide beyond the edge of the body 10 in the width direction of the body 10, so as to be used for cleaning the corner area. Wherein, the width direction of the body 10 is perpendicular to the front-back direction of the body 10. The front-back direction of the body 10 includes the forward direction and the backward direction, and the forward direction and the backward direction are opposite. The front-back direction of the body 10 is as shown in Figure 1 and 3 the ab direction shown in, the oa direction is the forward direction, and the ob direction is the backward direction.
[0073] Further, the cleaning robot further includes a guiding assembly 7. The guiding assembly 7 includes a slide rail 71 and a sliding groove 72. One of the slide rail 71 and the sliding groove 72 is arranged on the first crawler bracket 11, and the other is arranged on the body 10. Wherein, the slide rail 71 extends along the sliding direction of the first crawler assembly 1. Through the cooperation of the slide rail 71 and the sliding groove 72, the horizontal sliding of the first crawler assembly 1 relative to the body 10 is guided and limited, so as to improve the stability of the first crawler assembly 1 when sliding horizontally relative to the body 10.
[0074] Exemplarily, referring to Figure 1 and Figure 2 , the above-mentioned slide rail 71 is arranged on the first crawler bracket 11, and the sliding groove 72 is arranged on the body 10. Moreover, the slide rail 71 is connected to the rack 53. At this time, the slide rail 71 extends along the width direction of the body 10. When the rack 53 moves, it drives the slide rail 71 to move synchronously, further improving the stability of the first crawler assembly 1 when moving.
[0075] Further, referring to Figure 1, the above-mentioned cleaning robot further includes a sewage collection box 20, an extraction device (not shown in the figure), and a sewage tank 30, all of which are provided on the body 10. The sewage collection box 20 has a sewage collection space 200 communicating with the first sewage collection tank 301, and the extraction device can pump the sewage in the sewage collection space 200 into the sewage tank 30.
[0076] It can be understood that the sewage in the first sewage collection tank 301 enters the sewage collection space 200 and enters the sewage tank 30 under the action of the extraction device.
[0077] Exemplarily, the air extraction branch of the extraction device communicates with the sewage tank 30, and the sewage tank 30 can be evacuated to make the sewage in the sewage collection space 200 enter the sewage tank 30. Among them, the extraction device can be selected as an air pump or a vacuum pump.
[0078] In addition, the above-mentioned cleaning robot further includes a side brush 40 provided on the body 10. Among them, the side brush 40 is located on one side in the width direction of the body 10, and the side brush 40 is located on the front side of the first crawler assembly 1 in the front-rear direction of the body 10, and the side brush 40 is used to clean the corner area.
[0079] It should be noted that, exemplarily, the above-mentioned cleaning robot is provided with a side brush 40, and the side brush 40 is located on the front side of the first crawler assembly 1 in the front-rear direction of the body 10, and the side brush 40 is used to cooperate with the first crawler assembly 1 to clean the corner area.
[0080] Furthermore, referring to Figure 3 , the above-mentioned first crawler bracket 11 includes a first mounting platform 111, a first inner bracket 112, and a first outer bracket 113. Among them, both the first inner bracket 112 and the first outer bracket 113 are connected to the first mounting platform 111.
[0081] The above-mentioned first driving member 13 includes a driving motor 131, a first driving wheel 132, and a first driven wheel 133. The above-mentioned first crawler mop 12 is wound around the first driving wheel 132 and the first driven wheel 133. Among them, the first driving wheel 132 is arranged on the first inner bracket 112, the first driven wheel 133 is arranged on the first outer bracket 113, the driving motor 131 is installed on the first mounting platform 111, and the driving motor 131 can drive the first driving wheel 132 to rotate, thereby driving the first crawler mop 12 and the first driven wheel 133 to rotate.
[0082] It can be understood that the driving of the first crawler mop 12 is realized by the driving motor 131, the first driving wheel 132, and the first driven wheel 133, and the structure is simple; and the first driving member 13 moves synchronously with the first crawler bracket 11, which is beneficial to improving the driving stability of the first crawler mop 12.
[0083] It should be noted that the above-mentioned first inner support 112 is relatively closer to the inner side of the machine body 10 than the first outer support 113 in the sliding direction of the first crawler assembly 1. That is to say, the first outer support 113 slides out of the edge of the machine body 10 earlier than the first inner support 112. When the first crawler assembly 1 slides out of the edge of the machine body 10, the first inner support 112 is located under the machine body 10, while the first outer support 113 is located outside the edge of the machine body 10.
[0084] Further, referring to Figure 3 and Figure 4 , the above-mentioned first sewage collection member 3 has the above-mentioned first sewage collection tank 301, and one side wall of the first sewage collection tank 301 constitutes the above-mentioned first scraping strip 31. That is to say, the first sewage collection member 3 and the first scraping strip 31 are integrally arranged. At this time, the first sewage collection member 3 is connected to the above-mentioned first crawler support 11. Alternatively, the above-mentioned first sewage collection member and the first scraping strip may also be separately arranged, and the first scraping strip is installed on the first sewage collection member.
[0085] Exemplarily, referring to Figure 3 and Figure 4 , the opening of the first sewage collection tank 301 faces upward in the vertical direction of the machine body 10. The first crawler cleaning cloth 12 rotates from the upper side to the lower side of the first scraping strip 31 relative to the first scraping strip 31. In this way, the sewage generated when the first crawler cleaning cloth 12 is squeezed by the first scraping strip 31 can be scraped out by the first scraping strip 31 and guided by the first scraping strip 31 into the first sewage collection tank 301. Among them, the vertical direction Figure 1 and Figure 3 shown in the ef direction in, the vertical direction is also the height direction of the machine body.
[0086] Further, the first crawler cleaning cloth 12 rotates in the sliding direction of the first crawler assembly 1. At this time, the extending direction of the first scraping strip 31 is perpendicular to the sliding direction of the first crawler assembly 1.
[0087] Exemplarily, referring to Figure 3 and Figure 4 , the sliding direction of the first crawler assembly 1 is the width direction of the machine body 10. The width direction of the machine body 10 is perpendicular to its front-rear direction. The front-rear direction of the machine body 10 includes the forward direction and the backward direction, and the forward direction and the backward direction are opposite. Specifically, the above-mentioned front-rear direction is as Figure 1 and Figure 3 shown in the ab direction in, oa is the forward direction, ob is the backward direction, and the width direction is as Figure 1 and Figure 3 shown in the cd direction in.
[0088] Alternatively, the first squeegee strip may also extend along the sliding direction of the first crawler assembly. At this time, the first crawler wiper rotates in a direction perpendicular to the sliding direction of the first crawler assembly. For example, the sliding direction of the first crawler assembly is the width direction of the machine body, and the first crawler wiper rotates in the front-rear direction of the machine body. At this time, the first squeegee strip extends along the width direction of the machine body.
[0089] Further, referring to Figure 3 and Figure 4 , the sliding direction of the first crawler assembly 1 is the width direction of the machine body 10, the first crawler wiper 12 rotates in the width direction of the machine body 10, and the first sewage collecting member 3 is located inside the first crawler wiper 12 in the width direction of the machine body 10.
[0090] It can be understood that the first sewage collecting member 3 is arranged inside the first crawler wiper 12 in the width direction of the machine body 10, so that the first sewage collecting tank 301 can be hidden under the inside of the machine body 10, avoiding the exposure of the first sewage collecting tank 301 when the first crawler assembly 1 slides beyond the machine body 10, thereby avoiding sewage overflow and improving the user experience.
[0091] Referring to Figures 1 to 5 , in a specific implementation manner, two of the above-mentioned first crawler assemblies 1 are provided, and the two first crawler assemblies 1 are arranged at intervals in the sliding direction of the first crawler assembly 1. At this time, a first sewage collecting member 3 is provided corresponding to each first crawler assembly 1. In the sliding direction of the first crawler assembly 1, the two first sewage collecting members 3 are both located between the two first crawler assemblies 1.
[0092] Further, the first sewage collecting tanks 301 of the two first sewage collecting members 3 are both communicated with the sewage collecting space 200 of the sewage collecting box 20. Since the first sewage collecting tank 301 moves with the movement of the first crawler assembly 1, the first sewage collecting tank 301 is preferably communicated with the sewage collecting space 200 through a flexible connecting pipe.
[0093] Further, the first crawler wipers 12 of the two first crawler assemblies 1 both rotate in the sliding direction of the first crawler assembly 1, and the rotation directions of the two first crawler wipers 12 are opposite.
[0094] Specifically, each first crawler wiper 12 rotates from the upper side to the lower side of its corresponding first squeegee strip 31. In this way, one of the first crawler wipers 12 rotates counterclockwise in the sliding direction of the first crawler assembly 1, and the other first crawler wiper 12 rotates clockwise in the sliding direction of the first crawler assembly 1. Among them, when the sliding direction of the first crawler assembly 1 is the width direction of the machine body 10, that is, the left-right direction of the machine body 10, the first crawler wiper 12 of the first crawler assembly 1 located on the left rotates clockwise, and the first crawler wiper 12 of the first crawler assembly 1 located on the right rotates counterclockwise.
[0095] Optionally, in another specific implementation, the number of the above-mentioned first crawler assemblies 1 can also be set to one or more than two. When there is one first crawler assembly 1, the slipping direction of the first crawler assembly 1 is preferably the width direction of the body 10. When there are more than two first crawler assemblies 1, if the number N of the first crawler assemblies 1 is an even number at this time, every two first crawler assemblies 1 form a group and are arranged at intervals in the slipping direction. If the number N of the first crawler assemblies 1 is an odd number at this time, N first crawler assemblies 1 are divided into (N - 1) / 2 groups in pairs, two first crawler assemblies 1 in each group are arranged at intervals in the slipping direction, and the remaining one first crawler assembly 1 is arranged separately.
[0096] Taking two first crawler assemblies 1 arranged at intervals in the slipping direction of the first crawler assembly 1, and the slipping direction being the width direction (left - right direction) of the body as an example, when the body 10 turns, it is achieved by changing the rotation speeds of the two first crawler assemblies 1. For example, when turning left, the rotation speed of the first crawler cloth 12 of the right - hand first crawler assembly 1 increases, and the rotation speed of the first crawler cloth 12 of the left - hand first crawler assembly 1 decreases.
[0097] Refer to Figure 6 and Figure 7 , taking one of the first crawler assemblies 1 and the corresponding side brush 40 as an example for illustration. When cleaning the corner area, it is cleaned twice. During the first cleaning, the first crawler assembly 1 is in the retracted position, that is, at this time the first crawler assembly 1 does not extend out of the body, and the corner area is cleaned by the side brush 40. During the second cleaning, the first crawler assembly 1 slips beyond the edge of the body 10, and at this time the corner area is cleaned jointly by the side brush 40 and the first crawler cloth 12 of the first crawler assembly 1.
[0098] Refer to Figure 8 , since the first dirt - collecting member 3 is located inside the first crawler assembly 1 in the width direction of the body 10, even when the first crawler assembly 1 does not slip beyond the edge of the body 10, the gap between the first crawler cloths 12 of the two first crawler assemblies 1 will cause a problem of missed sweeping. Therefore, when the cleaning robot plans the path, a "bow - shaped" trajectory is adopted for cleaning. The preset distance L between the back - and - forth paths of the cleaning robot is greater than the gap between the two first crawler cloths 12 in the width direction of the body 10, but less than or equal to the length of the first crawler cloth 12 in the width direction of the body 10, ensuring that the cleaning robot can cover the previously missed - sweeping area.
[0099] Embodiment Two
[0100] The cleaning robot provided in this embodiment has basically the same structure as the cleaning robot in Embodiment One, and the differences are as follows:
[0101] Referring to Figure 9 and Figure 10 , the dirt scraping assembly further includes a second scraping strip 41 and a second dirt collecting member 4 having a second dirt collecting groove 401. Among them, the second dirt collecting groove 401 communicates with the dirt collecting space 200 of the above-mentioned dirt collecting box 20.
[0102] The first crawler assembly 1 has a retracted position retracted below the body 10 relative to the body 10. When the first crawler bracket 11 is in the retracted position, the second scraping strip 41 is attached to the first crawler drag cloth 12 to scrape the sewage on the first crawler drag cloth 12 into the second dirt collecting groove 401.
[0103] It can be understood that the first crawler assembly 1 can slide horizontally relative to the body 10. In this way, the first crawler assembly 1 has two extreme positions in its sliding direction. One of them is the above-mentioned retracted position, at which time the second scraping strip 41 is attached to the first crawler drag cloth 12, and the other is the slid-out position. When the first crawler assembly 1 is in the slid-out position, the first crawler assembly 1 slides outwards from the body 10 with the maximum distance. At this time, in the sliding direction of the first crawler assembly 1, there is a maximum distance between the first crawler drag cloth 12 and the second scraping strip 41. The above-mentioned first crawler assembly 1 can slide horizontally relative to the body 10 between the retracted position and the slid-out position.
[0104] Therefore, by providing the second scraping strip 41, when the first crawler assembly 1 is in the retracted position, the first crawler assembly 1 can be scraped for dirt by the second scraping strip 41 and the first scraping strip 31 at the same time, improving the cleaning efficiency.
[0105] Referring to Figure 10 , the above-mentioned second dirt collecting groove 401 communicates with the first dirt collecting groove 301. When the first crawler assembly 1 is in the retracted position, the second dirt collecting groove 401 is located below the first dirt collecting groove 301.
[0106] It can be understood that the second dirt collecting groove 401 communicates with the first dirt collecting groove 301, and the second dirt collecting groove 401 is located below the first dirt collecting groove 301. In this way, the sewage scraped into the first dirt collecting groove 301 by the first scraping strip 31 can flow into the second dirt collecting groove 401 under the action of gravity. In this way, no matter where the first crawler assembly 1 is between the retracted position and the slid-out position, the sewage can finally be concentrated in the second dirt collecting groove 401, so that it is convenient for the extraction device on the body 10 to suck the sewage in the second dirt collecting groove 401 into the sewage tank 30, and there is no need to provide an extraction device for the first dirt collecting groove 301.
[0107] Exemplarily, referring to Figure 9 and Figure 10, the above-mentioned first sewage collection tank 301 and the second sewage collection tank 401 are connected through a connecting pipe 6. The connecting pipe 6 is preferably a flexible pipe, so as to be easily stretched and unfolded or bent and folded as the first crawler assembly 1 slides relative to the body 10, avoiding breakage or damage of the connecting pipe 6 due to hard pulling.
[0108] It should be noted that when the first crawler assembly 1 is in the retracted position, the degree of extrusion of the first crawler wiper 12 by the second wiper 41 is greater than the degree of extrusion of the first crawler wiper 12 by the first wiper 31. That is to say, the thickness of the first crawler wiper 12 at the second wiper 41 is less than the thickness of the first crawler wiper 12 at the first wiper 31. In this way, the second wiper 41 is used to increase the extrusion of the first crawler wiper 12, which is beneficial to improving the dehydration degree of the first crawler wiper 12.
[0109] Refer to Figure 9 and Figure 10 , in the sliding direction of the first crawler assembly 1, the second sewage collection member 4 is located between the first crawler assembly 1 and the second crawler assembly 2.
[0110] It can be understood that the second sewage collection member 4 is arranged inside the first crawler wiper 12 in the width direction of the body 10, so that the second sewage collection tank 401 can be hidden under the inside of the body 10, improving the aesthetics.
[0111] Refer to Figure 9 and Figure 10 , the opening of the second sewage collection tank 401 faces upward in the vertical direction of the body 10, and the first crawler wiper 12 rotates downward from the upper side to the lower side of the second wiper 41 relative to the second wiper 41. In this way, when the first crawler wiper 12 is extruded by the second wiper 41, the sewage can be scraped out by the second wiper 41 and guided by the second wiper 41 into the second sewage collection tank 401.
[0112] Exemplarily, refer to Figure 9 and Figure 10 , the above-mentioned second sewage collection member 4 is integrally formed with the sewage collection box 20. Alternatively, the above-mentioned second sewage collection member can also be separately arranged from the sewage collection box, and the two are connected to each other.
[0113] Embodiment Three
[0114] The cleaning robot provided in this embodiment has basically the same structure as the cleaning robot in Embodiment Two, the difference being that: the cleaning robot in this embodiment further includes at least one second crawler assembly 2, and each second crawler assembly 2 and a first crawler assembly 1 are arranged at intervals in the sliding direction of the first crawler assembly 1. That is to say, replacing the arrangement of two first crawler assemblies 1 at intervals in the sliding direction of the first crawler assembly 1 with the arrangement of the first crawler assembly 1 and the second crawler assembly 2 at intervals in the sliding direction of the first crawler assembly 1.
[0115] It should be noted that the first track cleaning cloth 12 and the second track cleaning cloth 22 have the same width and length, so as to ensure that the first track cleaning cloth 12 and the second track cleaning cloth 22 can have the same rotation speed, and avoid the body 10 from shifting when moving.
[0116] Refer to Figure 11 and Figure 13 As shown in and, the second track assembly 2 includes a second track bracket 21, a second track cleaning cloth 22 rotatably arranged on the second track bracket 21, and a second driving member (not shown in the figure) for driving the second track cleaning cloth 22 to rotate. The second driving member is connected to the second track bracket 21, and the second track bracket 21 is connected to the body 10.
[0117] Understandably, at this time, the second track assembly 2 is fixed to the body, that is, it will not horizontally slip relative to the body 10. For the corner area, it is mainly the first track assembly 1 that horizontally slips relative to the body 10 and extends beyond the edge of the body 10 for cleaning.
[0118] Refer to Figure 13 As shown in, the above-mentioned second track bracket 21 includes a second mounting platform, a second inner bracket 211 and a second outer bracket 212. Among them, both the second inner bracket 211 and the second outer bracket 212 are connected to the second mounting platform. The second mounting platform is connected to the body 10.
[0119] The above-mentioned second driving member includes a motor, a second driving wheel 213 and a second driven wheel 214. The above-mentioned second track cleaning cloth 22 is wound around the second driving wheel 213 and the second driven wheel 214. Among them, the second driving wheel 213 is arranged on the second inner bracket 211, the second driven wheel 214 is arranged on the second outer bracket 212, the motor is installed on the second mounting platform, and the motor can drive the second driving wheel 213 to rotate, so as to drive the second track cleaning cloth 22 and the second driven wheel 214 to rotate.
[0120] Refer to Figures 11 to 14 As shown in, the dirt scraping assembly further includes a third scraping strip 42. The dirt scraping assembly further includes a third scraping strip 42. The third scraping strip 42 is attached to the second track cleaning cloth 22 to scrape the sewage on the second track cleaning cloth 22 into the second sewage collection tank 401.
[0121] Understandably, the above-mentioned second squeegee 41 and third squeegee 42 share a second sewage collection tank 401. In this way, when the first crawler assembly 1 is in the retracted position, the first squeegee 31 can scrape the sewage on the first crawler cleaning cloth 12 into the first sewage collection tank 301, and the sewage in the first sewage collection tank 301 flows into the second sewage collection tank 401 through the connecting pipe 6. The second squeegee 41 scrapes the sewage on the first crawler cleaning cloth 12 into the second sewage collection tank 401; the third squeegee 42 scrapes the sewage on the second crawler cleaning cloth 22 into the second sewage collection tank 401. In this way, the sewage is finally concentrated in the second sewage collection tank 401, so that it is convenient for the extraction device on the body 10 to suck the sewage in the second sewage collection tank 401 into the sewage tank through the sewage collection space 200, without the need to additionally set up other extraction devices.
[0122] Moreover, the second squeegee 41 and the third squeegee 42 share the second sewage collection tank 401, which can reduce the space occupied by the second sewage collection member 4 in the sliding direction of the first crawler assembly 1, which is beneficial to the miniaturized design of the cleaning robot of the body 10 or saves space to increase the lengths of the first crawler cleaning cloth 12 and the second crawler cleaning cloth 22.
[0123] Refer to Figure 11 and Figure 13 , both the above-mentioned first crawler cleaning cloth 12 and the second crawler cleaning cloth 22 rotate in the sliding direction of the first crawler assembly 1, and the rotation directions are opposite.
[0124] Specifically, the extending directions of the first squeegee 31 and the second squeegee 41 are both perpendicular to the sliding direction of the first crawler assembly 1. The first crawler cleaning cloth 12 rotates downward from the upper side to the lower side of the second squeegee 41, and the second crawler cleaning cloth 22 rotates downward from the upper side to the lower side of the third squeegee 42.
[0125] Exemplarily, refer to Figure 13 , the sliding direction of the first crawler assembly 1 is the width direction of the body 10, and the width direction of the body 10 is perpendicular to the front-rear direction of the body 10. Among them, the width direction of the body 10 is the cd direction shown in Figure 13 . Among them, the first crawler assembly 1 is located on the right side in the width direction of the body 10. The first crawler cleaning cloth 12 rotates counterclockwise in the sliding direction of the first crawler assembly 1. The second crawler cleaning cloth 22 is located on the left side in the width direction of the body 10 in the sliding direction of the first crawler assembly 1, and the second crawler cleaning cloth 22 rotates clockwise in the sliding direction of the first crawler assembly 1.
[0126] Optionally, it can also be that the second squeegee extends along the sliding direction of the first crawler assembly. At this time, the first crawler cleaning cloth rotates in the direction perpendicular to the sliding direction of the first crawler assembly. The third squeegee also extends along the sliding direction of the first crawler assembly. At this time, the second crawler cleaning cloth rotates in the direction perpendicular to the sliding direction of the first crawler assembly.
[0127] For example, the sliding direction of the first crawler assembly is the width direction of the machine body, while the first crawler wiper and the second crawler wiper both rotate in the front-rear direction of the machine body. The width direction of the machine body is perpendicular to the front-rear direction of the machine body. At this time, the second scraping strip is located on the front side or the rear side of the first crawler wiper in the front-rear direction of the machine body, and the third scraping strip is located on the front side or the rear side of the second crawler wiper in the front-rear direction of the machine body.
[0128] It should be noted that since the second scraping strip and the third scraping strip share a second sewage collecting groove, when the second scraping strip is located on the front side of the first crawler wiper in the front-rear direction of the machine body, the third scraping strip is located on the front side of the second crawler wiper in the front-rear direction of the machine body. When the second scraping strip is located on the rear side of the first crawler wiper in the front-rear direction of the machine body, the third scraping strip is located on the rear side of the second crawler wiper in the front-rear direction of the machine body.
[0129] Refer to Figures 14 to 16 , the above-mentioned second sewage collecting member 4 has the above-mentioned second sewage collecting groove 401. One side wall of the second sewage collecting groove 401 in the sliding direction of the first crawler assembly 1 constitutes the above-mentioned second scraping strip 41, and the other side wall constitutes the above-mentioned third scraping strip 42. That is to say, the second sewage collecting member 4, the second scraping strip 41 and the third scraping strip 42 are integrally arranged. At this time, the second sewage collecting member 4 is arranged on the machine body 10. Alternatively, the above-mentioned second sewage collecting member 4, the second scraping strip 41 and the third scraping strip 42 can also be separately arranged. The second scraping strip 41 and the third scraping strip 42 are installed on the second sewage collecting member 4, and the second sewage collecting member 4 is installed on the machine body 10.
[0130] Exemplarily, refer to Figures 11 to 16 , one of each of the above-mentioned first crawler assembly 1 and second crawler assembly 2 is provided. Of course, the number of the above-mentioned first crawler assembly 1 and second crawler assembly 2 can also be set to two or more, and the number of the first crawler assembly 1 and the second crawler assembly 2 is the same.
[0131] It should be noted that when the machine body 10 turns, it is achieved by changing the rotation speeds of the first crawler assembly 1 and the second crawler assembly 2. Among them, the first crawler assembly 1 is located on the right side in the width direction of the machine body 10, and the second crawler assembly 2 is located on the left side in the width direction of the machine body 10. For example, when turning left, the rotation speed of the first crawler wiper 12 of the first crawler assembly 1 on the right side increases, and the rotation speed of the second crawler wiper 22 of the second crawler assembly 2 on the left side decreases.
[0132] Refer to Figure 17 and Figure 18, taking the first crawler assembly 1 and the corresponding side brush 40 as an example for illustration. When cleaning the corner area, two cleanings are performed. During the first cleaning, the first crawler assembly 1 is in the retracted position, that is, at this time, the first crawler assembly 1 does not extend out of the body 10, and the side brush 40 is used to clean the corner area. During the second cleaning, the first crawler assembly 1 slides beyond the edge of the body 10, and at this time, the side brush 40 and the first crawler mop 12 of the first crawler assembly 1 jointly clean the corner area.
[0133] Referring to Figure 19 , since the first sewage collection member 3 and the second sewage collection member 4 are located between the first crawler assembly 1 and the second crawler assembly 2 in the sliding direction of the first crawler assembly 1, even when the first crawler assembly 1 does not slide beyond the edge of the body 10, the gap between the first crawler mop 12 and the second crawler mop 22 will cause a missed cleaning area. Therefore, when the cleaning robot plans the path, a "zigzag" trajectory is used for cleaning, and the preset distance L is set for the path spacing of the cleaning robot back and forth. The preset distance L is greater than the gap between the first crawler mop 12 and the second crawler mop 22 in the width direction of the body 10 to ensure that the cleaning robot can cover the missed cleaning area last time.
[0134] Embodiment Four
[0135] The cleaning robot provided in this embodiment has basically the same structure as the cleaning robot in Embodiment Three, and the differences are as follows:
[0136] The sewage scraping assembly includes a third scraping strip and a corresponding third sewage collection tank provided for the third scraping strip. The third scraping strip is attached to the second crawler mop to scrape the sewage on the second crawler mop into the third sewage collection tank. That is to say, the second scraping strip and the third scraping strip do not share a sewage collection tank at this time.
[0137] It can be understood that at this time, the second scraping strip scrapes the sewage on the first crawler mop into the second sewage collection tank, and the third scraping strip scrapes the sewage on the first crawler mop into the third sewage collection tank. In this way, when the first crawler assembly is in the retracted position, it can be avoided that the sewage on the first crawler mop and the sewage on the second crawler mop are concentrated in the same sewage collection tank, and the situation of water overflow due to excessive water volume in the sewage collection tank can be avoided.
[0138] Exemplarily, in another specific implementation manner, the sewage scraping assembly includes a third sewage collection member having a third sewage collection tank, and the third sewage collection member and the second sewage collection member are separately arranged. One side wall of the third sewage collection tank at this time constitutes the above-mentioned third scraping strip, that is, the third sewage collection member and the third scraping strip are integrally arranged, or the above-mentioned third sewage collection member and the third scraping strip can also be separately arranged, and the third scraping strip is installed on the third sewage collection member.
[0139] Further, in the sliding direction of the first crawler assembly, the third dirt collecting member is also located between the first crawler assembly and the second crawler assembly.
[0140] Further, the third dirt collecting member is integrally formed with the dirt collecting box, or the third dirt collecting member is separately provided from the dirt collecting box, and the third dirt collecting member is connected to the dirt collecting box.
[0141] Exemplarily, in another specific implementation manner, the second dirt collecting groove and the third dirt collecting groove are both provided on the second dirt collecting member. At this time, one side wall of the second dirt collecting groove constitutes the second scraping strip, and one side wall of the third dirt collecting groove constitutes the third scraping strip. The second dirt collecting member is installed on the body. That is to say, at this time, the second dirt collecting member, the second scraping strip, and the third scraping strip are integrally provided. Alternatively, the first dirt collecting member, the second scraping strip, and the third scraping strip can also be separately provided. The second scraping strip and the third scraping strip are installed on the second dirt collecting member, and the second dirt collecting member is installed on the body.
[0142] Embodiment Five
[0143] The cleaning robot provided in this embodiment has basically the same structure as the cleaning robot in Embodiment One. The difference is that: the cleaning robot in this embodiment further includes at least one second crawler assembly 2, and each second crawler assembly 2 and a first crawler assembly 1 are arranged at intervals in the sliding direction of the first crawler assembly 1. That is to say, replacing the arrangement of the two first crawler assemblies 1 at intervals in the sliding direction of the first crawler assembly 1 with the arrangement of the first crawler assembly 1 and the second crawler assembly 2 at intervals in the sliding direction of the first crawler assembly 1.
[0144] It should be noted that the widths and lengths of the first crawler mop 12 and the second crawler mop 22 are the same, so as to ensure that the first crawler mop 12 and the second crawler mop 22 can have the same rotation speed and avoid the body 10 from shifting when moving.
[0145] Refer to Figures 20 to 22 , the above-mentioned second crawler assembly 2 includes a second crawler bracket 21, a second crawler mop 22 rotatably arranged on the second crawler bracket 21, and a second driving member for driving the second crawler mop 22 to rotate. The second driving member is connected to the second crawler bracket 21, and the second crawler bracket 21 is connected to the body 10.
[0146] Understandably, at this time, the second crawler assembly 2 is fixed on the body 10, that is to say, it will not horizontally slide relative to the body 10. For the corner area, it is mainly the side brush 40 and the first crawler assembly 1 that horizontally slide relative to the body 10 to extend beyond the edge of the body 10 for cleaning.
[0147] Refer to Figure 21 and Figure 22, in this embodiment, the dirt scraping assembly further includes a fourth dirt collecting member 9 having a fourth dirt collecting groove 901. A fourth scraping strip 91 is provided on the fourth dirt collecting member 9, and the fourth scraping strip 91 is attached to the second crawler drag cloth 22 to scrape the sewage on the second crawler drag cloth 22 into the fourth dirt collecting groove 901.
[0148] It should be noted that the fourth dirt collecting member 9 and the dirt collecting box 20 are integrally formed or are separately provided and connected to each other.
[0149] Further, referring to Figure 21 and Figure 22 , the opening of the fourth dirt collecting groove 901 faces upward in the vertical direction of the machine body 10. The second crawler drag cloth 22 rotates downward from the upper side to the lower side of the fourth scraping strip 91 relative to the fourth scraping strip 91. In this way, when the second crawler drag cloth 22 is squeezed by the fourth scraping strip 91, the sewage can be scraped out by the fourth scraping strip 91 and guided by the fourth scraping strip 91 into the fourth dirt collecting groove 901. Among them, the vertical direction is also the height direction of the machine body 10.
[0150] Referring to Figure 21 and Figure 22 , in a specific implementation manner, in the sliding direction of the first crawler assembly 1, the fourth dirt collecting member 9 is located between the first crawler assembly 1 and the second crawler assembly 2.
[0151] Understandably, the fourth dirt collecting member 9 is arranged inside the first crawler drag cloth 12 in the width direction of the machine body 10, so that the fourth dirt collecting groove 901 can be hidden under the inside of the machine body 10 to improve the aesthetics.
[0152] Further, both the first crawler drag cloth 12 and the second crawler drag cloth 22 rotate in the sliding direction of the first crawler assembly 1, and the rotation directions are opposite.
[0153] Specifically, the extending directions of the first scraping strip 31 and the fourth scraping strip 91 are both perpendicular to the sliding direction of the first crawler drag cloth 12. The first crawler drag cloth 12 rotates downward from the upper side to the lower side of the first scraping strip 31 relative to the first scraping strip 31, and the second crawler drag cloth 22 rotates downward from the upper side to the lower side of the fourth scraping strip 91 relative to the fourth scraping strip 91.
[0154] Referring to Figure 21 and Figure 22 , exemplarily, the sliding direction of the first crawler assembly 1 is the width direction of the machine body 10, and the width direction of the machine body 10 is perpendicular to the front-back direction of the machine body 10. Among them, the first crawler assembly 1 is located on the right side in the width direction of the machine body 10, the first crawler drag cloth 12 rotates counterclockwise in the sliding direction of the first crawler assembly 1, the second crawler drag cloth 22 is located on the left side in the width direction of the machine body 10 in the sliding direction of the first crawler assembly 1, and the second crawler drag cloth 22 rotates clockwise in the sliding direction of the first crawler assembly 1.
[0155] Optionally, the first squeegee strip may also extend along the sliding direction of the first crawler assembly. In this case, the first crawler wiper rotates in a direction perpendicular to the sliding direction of the first crawler assembly. The fourth squeegee strip also extends along the sliding direction of the first crawler assembly. In this case, the second crawler wiper rotates in a direction perpendicular to the sliding direction of the first crawler assembly.
[0156] For example, the sliding direction of the first crawler assembly is the width direction of the machine body, and both the first crawler wiper and the second crawler wiper rotate in the front-rear direction of the machine body. The width direction of the machine body is perpendicular to the front-rear direction of the machine body. At this time, the first squeegee strip is located on the front side or the rear side of the first crawler wiper in the front-rear direction of the machine body, and the fourth squeegee strip is located on the front side or the rear side of the second crawler wiper in the front-rear direction of the machine body.
[0157] Exemplarily, referring to Figure 20 and Figure 21 , one of each of the above-mentioned first crawler assembly 1 and second crawler assembly 2 is provided. Among them, the first crawler assembly 1 is located on the right side in the width direction of the machine body 10, the second crawler assembly 2 is located on the left side in the width direction of the machine body 10, and the side brush 40 is located on the right side in the width direction of the machine body 10 and in front of the first crawler assembly 1.
[0158] It should be noted that the machine body 10 realizes turning by changing the rotation speeds of the first crawler assembly 1 and the second crawler assembly 2. For example, when turning left, the rotation speed of the first crawler wiper 12 of the first crawler assembly 1 on the right side is increased, and the rotation speed of the second crawler wiper 22 of the second crawler assembly 2 on the left side is decreased.
[0159] Referring to Figure 23 and Figure 24 , taking the first crawler assembly 1 and the corresponding side brush 40 as an example for explanation. When cleaning the corner area, two cleanings are performed. During the first cleaning, the first crawler assembly 1 is in the retracted position, that is, at this time the first crawler assembly 1 does not extend out of the machine body 10, and only the side brush 40 is used to clean the corner area. During the second cleaning, the first crawler assembly 1 slides beyond the edge of the machine body 10. At this time, the side brush 40 and the first crawler wiper 12 of the first crawler assembly 1 are used together to clean the corner area.
[0160] Referring to Figure 25, since both the first dirt collection member 3 and the fourth dirt collection member 9 are located inside the first crawler assembly 1 in the width direction of the body 10, even when the first crawler assembly 1 does not slip beyond the edge of the body 10, the gap between the first crawler mop 12 and the second crawler mop 22 will cause a missed cleaning area. Therefore, when the cleaning robot plans the path, a "zigzag" trajectory is adopted for cleaning, and the preset distance L is set for the distance between the back-and-forth paths of the cleaning robot. The preset distance L is greater than the gap between the first crawler mop 12 and the second crawler mop 22 in the width direction of the body 10 to ensure that the cleaning robot can cover the missed cleaning area last time.
[0161] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the said element.
[0162] The above description is only the specific implementation manners of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments described herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.
Claims
1. A cleaning robot, characterized in that, Comprising: A body (10); At least one first crawler assembly (1) capable of horizontally sliding beyond the edge of the body (10), the first crawler assembly (1) including a first crawler bracket (11), a first crawler cloth (12) rotatably arranged on the first crawler bracket (11), and a first driving member for driving the first crawler cloth (12) to rotate, the first driving member being connected to the first crawler bracket (11); A dirt scraping assembly, including a first dirt collecting member having a first dirt collecting groove, the first dirt collecting member being connected to the first crawler bracket and provided with a first scraping bar thereon, the first scraping bar (31) being attached to the first crawler cloth (12) to scrape the sewage on the first crawler cloth (12) into the first dirt collecting groove (301).
2. The cleaning robot according to claim 1, wherein The dirt scraping assembly further includes a second dirt collecting member having a second dirt collecting groove, the second dirt collecting member being connected to the body and provided with a second scraping bar thereon, the first crawler assembly (1) having a retracted position where it retracts below the body (10) relative to the body (10); When the first crawler assembly (1) is in the retracted position, the second scraping bar (41) is attached to the first crawler cloth (12) to scrape the sewage on the first crawler cloth (12) into the second dirt collecting groove (401).
3. The cleaning robot according to claim 2, wherein The second dirt collecting groove (401) communicates with the first dirt collecting groove (301); When the first crawler assembly (1) is in the retracted position, the second dirt collecting groove (401) is located below the first dirt collecting groove (301).
4. The cleaning robot according to claim 2, characterized in that, The cleaning robot further includes: At least one second crawler assembly (2), each second crawler assembly being spaced apart from one of the first crawler assemblies (1) in the sliding direction of the first crawler assembly (1), the second crawler assembly (2) including a second crawler bracket (21), a second crawler cloth (22) rotatably arranged on the second crawler bracket (21), and a second driving member for driving the second crawler cloth (22) to rotate, the second driving member being connected to the second crawler bracket, and the second crawler bracket (21) being connected to the body (10); The second dirt collecting member is further provided with a third scraping bar (42), the third scraping bar (42) being attached to the second crawler cloth (22) to scrape the sewage on the second crawler cloth (22) into the second dirt collecting groove (401).
5. The cleaning robot according to claim 4, characterized in that, Both the first crawler cloth (12) and the second crawler cloth (22) rotate in the sliding direction of the first crawler assembly, and in the sliding direction of the first crawler assembly, the second dirt collecting member (4) is located between the first crawler assembly (1) and the second crawler assembly (2).
6. The cleaning robot according to claim 1, characterized in that The cleaning robot further includes: At least one second crawler assembly (2), each of the second crawler assemblies being spaced apart from one of the first crawler assemblies (1) in the sliding direction of the first crawler assembly, the second crawler assembly (2) including a second crawler bracket (21) and a second crawler wiper (22) rotatably disposed on the second crawler bracket (21); The dirt scraping assembly further includes a third scraping strip (42) and a third sewage collecting trough provided corresponding to the third scraping strip (42), the third scraping strip (42) being attached to the second crawler wiper (22) to scrape the sewage on the second crawler wiper (22) into the third sewage collecting trough.
7. The cleaning robot according to claim 1, wherein, There are two first crawler assemblies (1), the two first crawler assemblies (1) being spaced apart from each other in the sliding direction of the first crawler assembly and / or the rotation directions of the first crawler wipers (12) of the two first crawler assemblies (1) being opposite.
8. The cleaning robot according to claim 1, wherein, The sliding direction of the first crawler is the width direction of the body, the first crawler wiper (12) rotates in the width direction of the body (10), and the first sewage collecting member (3) is located inside the first crawler wiper (12) in the width direction of the body (10).
9. The cleaning robot according to claim 1, characterized in that, The cleaning robot further includes a driving assembly (5), the driving assembly (5) including a driving member (51), a gear (52) and a rack (53) engaged with the gear (52), the driving member (51) being disposed on the body (10), the gear (52) being connected to the output end of the driving member (51), and the rack (53) extending horizontally and being disposed on the first crawler bracket (11).
10. The cleaning robot according to claim 1, wherein, The cleaning robot further includes a sewage collecting box (20), a pumping device and a sewage tank (30), all of which are disposed on the body (10). The sewage collecting box (20) has a sewage collecting space (200) communicating with the first sewage collecting trough (301), and the pumping device is configured to pump the sewage in the sewage collecting space (200) into the sewage tank (30).